diff --git a/norm_stats.json b/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cc74af54185d677ff5725358a3e61026f84a201
--- /dev/null
+++ b/norm_stats.json
@@ -0,0 +1,337 @@
+{
+  "count": 10434,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 64,
+  "action_dim": 22,
+  "state_mean": [
+    0.20225466939645237,
+    0.2168584970576935,
+    0.14193602906657155,
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+    1.31424160589883,
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+    0.002239629496506103,
+    0.5763177352110113,
+    0.5717921974570032,
+    0.6546325950379676,
+    0.08838408900581,
+    0.7189770395095725,
+    0.7129284510853875,
+    0.7613393645091975,
+    0.7668487189091775,
+    0.0014464330118091149,
+    0.006965731638530941,
+    -0.0013293303342295209,
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+    -0.0008626846057093426,
+    0.000577512289254433,
+    0.01288622504240837,
+    0.03038353306306502,
+    0.027048138803587893,
+    0.02970059447683579,
+    0.01771062712517697,
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+    0.000309993714253867,
+    3.729343477769286e-07,
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+    0.01590989072281336,
+    0.01566217362692906,
+    0.017555837742012168,
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+    0.02055910475263699,
+    0.021130879727130323,
+    0.022157229560351484,
+    0.023744339660012378,
+    3.705275798159873,
+    -0.15525219903447307,
+    0.10030872060325577,
+    0.10876155873335354,
+    -0.04567884401678368,
+    0.15963205466519015,
+    0.13352996854974505,
+    0.040019190607809195,
+    -0.010129355366381624,
+    0.17876155715766362,
+    0.0,
+    0.01883198826564141,
+    0.19527138967851765,
+    -0.11043807613292594,
+    0.07000000029802322,
+    -0.005659653383818518,
+    0.14950269930829566,
+    0.3122915256784889
+  ],
+  "state_std": [
+    0.3226481938396709,
+    0.4267862156793296,
+    0.37208850907502766,
+    0.4664247763981945,
+    0.40520363532084697,
+    0.42733101132018825,
+    0.22510403364262827,
+    0.6374812567249637,
+    0.6528704828450921,
+    0.7024200875947642,
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+    0.010482802606319067,
+    0.00010285274834867464,
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+    0.0662720417962006,
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+    0.06890262376109393,
+    0.06484785188910838,
+    0.06421501932548988,
+    0.06499996171672,
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+    0.09339311190443508,
+    0.41329022832795637,
+    0.06464794574094566,
+    0.011373161442505319,
+    0.08748661080897091,
+    0.10939174458269275,
+    0.08709127199164204,
+    0.2751906941385479,
+    0.0646479427375263,
+    1.0,
+    0.0051574854875253385,
+    0.05720367527892316,
+    0.21611801731397307,
+    0.0001,
+    0.08960987751723788,
+    0.2574706781055349,
+    0.10238859858060106
+  ],
+  "action_mean": [
+    -0.007316286946902173,
+    -0.0008401194894755962,
+    -0.00718419258160894,
+    0.0,
+    0.0,
+    0.0,
+    -0.0016750457777436757,
+    0.05990169230310858,
+    0.04135517742879688,
+    0.035267209753077074,
+    -0.002111111443188419,
+    0.04802935139324466,
+    0.04271283526689769,
+    0.0370817860298877,
+    -1.3427798498016035e-07,
+    0.029764235959396708,
+    0.01786071195761454,
+    0.022558511534549734,
+    -0.0012323845671309533,
+    -0.0006748555833132206,
+    0.048235166106833434,
+    0.050273193366709906
+  ],
+  "action_std": [
+    0.02826435986308021,
+    0.06925340305822869,
+    0.05636993782417685,
+    0.0001,
+    0.0001,
+    0.0001,
+    0.006203077767321953,
+    0.07122144844013469,
+    0.06470466879897012,
+    0.06281379496361393,
+    0.0031452776090588217,
+    0.06394187171386315,
+    0.0634194827494057,
+    0.06263430153559765,
+    0.00010005500056514948,
+    0.06576281484369136,
+    0.06897946172077314,
+    0.06579800291720372,
+    0.1401221016782957,
+    0.007602271559738112,
+    0.09744820131247088,
+    0.07207504121631834
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        0,
+        23
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        23,
+        46
+      ]
+    },
+    {
+      "path": "obs/extra/depth_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        46,
+        47
+      ]
+    },
+    {
+      "path": "obs/extra/hammer_nail_err",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        47,
+        50
+      ]
+    },
+    {
+      "path": "obs/extra/hammer_reach_err",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        50,
+        53
+      ]
+    },
+    {
+      "path": "obs/extra/hammer_tool_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        53,
+        56
+      ]
+    },
+    {
+      "path": "obs/extra/is_nail_driven",
+      "dtype": "bool",
+      "kind": "bool",
+      "dim": 1,
+      "slice": [
+        56,
+        57
+      ]
+    },
+    {
+      "path": "obs/extra/nail_depth",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        57,
+        58
+      ]
+    },
+    {
+      "path": "obs/extra/nail_target_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        58,
+        61
+      ]
+    },
+    {
+      "path": "obs/extra/palm_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        61,
+        64
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      47
+    ],
+    [
+      47,
+      50
+    ],
+    [
+      50,
+      53
+    ],
+    [
+      53,
+      56
+    ],
+    [
+      57,
+      58
+    ],
+    [
+      58,
+      61
+    ],
+    [
+      61,
+      64
+    ]
+  ],
+  "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
+}
\ No newline at end of file
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